openmv/usr/openmv-ide.py
2014-02-11 01:48:54 +02:00

109 lines
3.1 KiB
Python
Executable File

#!/usr/bin/env python
import sys, os, os.path
import gtk
import gtksourceview2 as gtksourceview
import gio
import pango
import gobject
import vte
import serial
from time import sleep
import usb.core
import usb.util
import numpy as np
import openmv
def image2pixbuf(buff):
arr = np.fromstring(buff, dtype=np.uint16).newbyteorder('S')
r = (((arr & 0xF800) >>11)*255.0/31.0).astype(np.uint8)
g = (((arr & 0x07E0) >>5) *255.0/63.0).astype(np.uint8)
b = (((arr & 0x001F) >>0) *255.0/31.0).astype(np.uint8)
arr = np.column_stack((r, g, b))
arr = arr.reshape((120, 160, 3))
return gtk.gdk.pixbuf_new_from_array(arr, gtk.gdk.COLORSPACE_RGB, 8)
ex_source =\
'''from openmv import sensor, imlib
while (True):
sensor.snapshot()
r= imlib.detect_color((340, 50, 50), 10)
imlib.draw_rectangle(r)
'''
class OMVGtk:
def __init__(self):
#Set the Glade file
self.builder = gtk.Builder()
self.builder.add_from_file("openmv-ide.glade")
sourceview = self.builder.get_object('gtksourceview')
self.buffer = gtksourceview.Buffer()
mgr = gtksourceview.style_scheme_manager_get_default()
style_scheme = mgr.get_scheme('classic')
if style_scheme:
self.buffer.set_style_scheme(style_scheme)
lang_manager = gtksourceview.language_manager_get_default()
self.buffer.set_highlight_syntax(True)
self.buffer.set_language(lang_manager.get_language("python"))
self.buffer.set_text(ex_source)
sourceview.set_buffer(self.buffer)
self.terminal = self.builder.get_object('terminal')
self.fd = os.open("/dev/ttyACM0", os.O_RDWR)
self.terminal.set_size(80,24)
self.terminal.set_pty(self.fd)
self.framebuffer = self.builder.get_object("framebuffer_image")
# init openmv
openmv.init()
#connect signals
signals = {
"on_execute_clicked" : self.execute_clicked,
"on_stop_clicked" : self.stop_clicked,
"on_top_window_destroy" : self.quit,
}
self.builder.connect_signals(signals)
self.window = self.builder.get_object("top_window")
def execute_clicked(self, widget):
buf = self.buffer.get_text(self.buffer.get_start_iter(), self.buffer.get_end_iter())
# interrupt any running code
self.terminal.feed_child("\x03")
sleep(0.1)
# exec script
openmv.exec_script(buf)
def stop_clicked(self, widget):
self.terminal.feed_child("\x03\r\n")
def update_fb(self):
img_size = 160*120*2
# read framebuffer
buf = openmv.dump_fb()
if len(buf) <img_size:
print(len(buf))
return
# convert to RGB888 and blit
pixbuf = image2pixbuf(buf)
self.framebuffer.set_from_pixbuf(pixbuf)
gobject.idle_add(omvgtk.update_fb);
def quit(self, widget):
os.close(self.fd)
openmv.release()
sys.exit(0)
if __name__ == "__main__":
omvgtk = OMVGtk()
omvgtk.window.show_all()
gobject.idle_add(omvgtk.update_fb);
gtk.main()